JP6366881B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device.

  2. Description of the Related Art Conventionally, a parking support device that supports parking of a vehicle using a sensor provided in the vehicle has been developed (see, for example, Patent Document 1 or Patent Document 2). The parking assistance apparatus of patent document 1 determines the parking space of the own vehicle using an ultrasonic sensor, and superimposes and displays this parking space on the captured image behind the own vehicle. The parking assist device of Patent Document 2 calculates a target value of a steering angle using an ultrasonic sensor and performs so-called “automatic parking”.

JP 2013-91330 A Japanese Patent Laid-Open No. 2015-24725

  In general, the effective detection range by a parking assistance sensor is about several tens of centimeters to several meters. Outside the effective detection range, the detection accuracy by the sensor is greatly reduced. When an obstacle to be detected in parking assistance is outside the effective detection range, the obstacle cannot be detected normally using the sensor, and the parking assistance device cannot perform appropriate parking assistance. .

  The conventional parking assistance device has a problem that the driver of the own vehicle cannot visually grasp the effective detection range. In addition, the conventional parking assistance device has a problem that the vehicle cannot be guided so that an obstacle to be detected by the parking assistance falls within the effective detection range before the parking assistance is executed. As a result, the conventional parking assistance device has a problem that the certainty of the parking assistance is low.

  SUMMARY An advantage of some aspects of the invention is to improve the certainty of parking support by a parking support device.

The parking assistance device of the present invention uses a first sensor for parking assistance provided in a vehicle, a parking assistance control unit that performs parking assistance of the vehicle, and a guidance display based on an effective detection range by the first sensor. A guidance display control unit that displays on the display device in a state superimposed on the front landscape with respect to the vehicle, and the guidance display indicates information on the effective detection range, and the outer end portion for the vehicle in the effective detection range is displayed. It is shown .

  Since the parking assistance device of the present invention is configured as described above, the certainty of parking assistance can be improved.

It is a functional block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 1 of this invention. It is a hardware block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 1 of this invention. It is another hardware block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the parking assistance apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows an example of the 1st effective detection range which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the content of the guidance display which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the state which displayed the guidance display corresponding to the content of FIG. 6 on a display. It is explanatory drawing which shows the content of the other guidance display which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the state which displayed the guidance display corresponding to the content of FIG. 8 on a display. It is a functional block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 2 of this invention. It is explanatory drawing which shows the state which displayed the guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is explanatory drawing which shows the state which displayed other guidance display which concerns on Embodiment 2 of this invention on HUD. It is a functional block diagram which shows the principal part of the parking assistance apparatus which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows an example of the 1st effective detection range which concerns on Embodiment 3 of this invention, a 2nd effective detection range, a 1st predetermined range, and a 1st display reference range. It is explanatory drawing which shows the content of the guidance display which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows the state which displayed the guidance display corresponding to the content of FIG. 18 on HUD. It is explanatory drawing which shows the content of the other guidance display which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows the state which displayed the guidance display corresponding to the content of FIG. 20 on HUD. It is explanatory drawing which shows an example of the 1st effective detection range which concerns on Embodiment 3 of this invention, a 2nd effective detection range, a 2nd predetermined range, and a 2nd display reference range. It is explanatory drawing which shows the content of the other guidance display which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows the state which displayed the guidance display corresponding to the content of FIG. 23 on HUD.

  Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.

Embodiment 1 FIG.
FIG. 1 is a functional block diagram showing the main part of the parking assistance apparatus according to Embodiment 1 of the present invention. FIG. 2 is a hardware configuration diagram illustrating a main part of the parking assist apparatus according to Embodiment 1 of the present invention. FIG. 3 is another hardware configuration diagram showing the main part of the parking assist apparatus according to Embodiment 1 of the present invention. With reference to FIG. 1 to FIG. 3, the parking support apparatus 100 of the first embodiment will be described focusing on an example of mounting on a vehicle (hereinafter referred to as “own vehicle”) 1 made of a four-wheeled vehicle.

  At least one ultrasonic sensor (hereinafter referred to as “left ultrasonic sensor”) 2 is provided on the left side of the host vehicle 1. At least one ultrasonic sensor (hereinafter referred to as “right ultrasonic sensor”) 3 is provided on the right side of the host vehicle 1. The left ultrasonic sensor 2 and the right ultrasonic sensor 3 constitute a first sensor 4.

  The parking support control unit 5 uses the first sensor 4 to support parking of the host vehicle 1. Specifically, for example, the parking support control unit 5 includes an automatic parking control unit 6 and performs automatic parking of the host vehicle 1. That is, information indicating the dimensions of the host vehicle 1 is stored in the automatic parking control unit 6 in advance. The automatic parking control unit 6 causes the left ultrasonic sensor 2 or the right ultrasonic sensor 3 to transmit ultrasonic waves while the host vehicle 1 is traveling. When the left ultrasonic sensor 2 or the right ultrasonic sensor 3 receives the reflected wave, the automatic parking control unit 6 estimates that an obstacle exists at this reflection point. The automatic parking control unit 6 detects a region (hereinafter referred to as “parkable region”) in which no obstacle exists over a range larger than the size of the host vehicle 1 among the regions where the host vehicle 1 has passed. The automatic parking control unit 6 parks the host vehicle 1 in the detected parkable area so as to avoid a collision between the host vehicle 1 and an obstacle.

  Here, in the automatic parking, only the operation of the steering device 7 is automatically controlled (so-called “semi-automatic parking”), and the operation of the steering device 7 and the torque of the engine 8 are automatically controlled (so-called “semi-automatic parking”). Parking ") and those that automatically control the operation of the steering device 7, the torque of the engine 8 and the operation of the braking device 9 (so-called" fully automatic parking "). The automatic parking control unit 6 performs at least one of semi-automatic parking, semi-automatic parking, or fully automatic parking. FIG. 1 shows an example in which the automatic parking control unit 6 performs fully automatic parking.

  The host vehicle 1 is provided with a camera 10 (hereinafter referred to as “front shooting camera”) that captures the front of the host vehicle 1. That is, an image (hereinafter referred to as “front image”) taken by the front camera 10 captures a landscape in front of the host vehicle 1 (hereinafter referred to as “front landscape”). The front camera 10 constitutes a second sensor 11.

  The obstacle detection unit 12 uses the second sensor 11 to detect an obstacle existing in front of the host vehicle 1. Specifically, for example, the obstacle detection unit 12 acquires a front image from the front photographing camera 10 and executes an image recognition process on the front image, thereby detecting an obstacle imaged in the front image. To do. The object to be detected by the obstacle detection unit 12 is provided on, for example, a vehicle different from the host vehicle 1 (hereinafter referred to as “other vehicle”), a road cone, a building, a wall, a fence, a pillar, unevenness provided on the road surface, or a road surface. It is a groove, a pedestrian, etc.

  The parking candidate area detection unit 13 uses the detection result obtained by the obstacle detection unit 12 and is an area that is a candidate for a parking area among the areas existing in front of the host vehicle 1 (hereinafter referred to as “parking candidate area”). Is detected. Specifically, for example, the parking candidate area detection unit 13 stores in advance information indicating the size of the host vehicle 1, information indicating a shooting range of the front shooting camera 10, and the like. The parking candidate area detection unit 13 uses these pieces of information to check for obstacles over a range larger than the size of the host vehicle 1 in the parking area (parking lot, garage, road shoulder, etc.) captured in the front image. An area where no object is detected is detected as a parking candidate area.

  The vehicle speed sensor 14 is provided on the front wheel portion or the rear wheel portion of the host vehicle 1 and outputs a pulse signal corresponding to the rotational speed of the wheel, a so-called “vehicle speed signal”. The shift position sensor 15 detects a shift position of a transmission provided in the host vehicle 1 and outputs a signal indicating the detected shift position, a so-called “shift position signal”. The storage device 16 includes an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores map information. A GPS (Global Positioning System) receiver 17 receives a GPS signal from a GPS satellite (not shown).

  The display condition determination unit 18 determines whether or not the host vehicle 1 is traveling using the vehicle speed signal output from the vehicle speed sensor 14 and the shift position signal output from the shift position sensor 15. The display condition determination unit 18 calculates the traveling speed of the host vehicle 1 using the vehicle speed signal when the host vehicle 1 is traveling. The display condition determination unit 18 determines whether or not the traveling speed of the host vehicle 1 is equal to or higher than a preset reference speed (for example, 30 kilometers per hour).

  When the host vehicle 1 is stopped or the host vehicle 1 is traveling at a traveling speed lower than the reference speed, the display condition determination unit 18 displays the map information stored in the storage device 16 and the GPS receiver 17. Is used to calculate the current position of the host vehicle 1 using the GPS signal received. The display condition determination unit 18 determines whether or not the current position of the host vehicle 1 is on the road. When the current position of the host vehicle 1 is on a road, the display condition determination unit 18 determines whether the road is a road having an oncoming lane using map information.

  In the display control unit 19, information indicating the effective detection range by the first sensor 4 is stored in advance. A specific example of the effective detection range will be described later with reference to FIG. Further, the display control unit 19 causes the display device 20 to display a display based on the effective detection range by the first sensor 4 (hereinafter referred to as “guidance display”). The guidance display is a display showing at least some information related to the effective detection range. Specific examples of the guidance display will be described later with reference to FIGS.

  Here, the display control unit 19 displays the guidance display according to the determination result by the display condition determination unit 18. That is, the display control unit 19 displays a guidance display when the host vehicle 1 is stopped or when the host vehicle 1 is traveling at a travel speed lower than the reference speed. The display control unit 19 sets the guidance display to non-display when the host vehicle 1 is traveling at a traveling speed equal to or higher than the reference speed.

  In the guidance display, a display based on the effective detection range by the left ultrasonic sensor 2 (hereinafter referred to as “left guidance display”) and a display based on the effective detection range by the right ultrasonic sensor 3 (hereinafter referred to as “right guidance display”). ) And are included. When the current position of the host vehicle 1 is on a road and the road is a road having an opposite lane, the display control unit 19 hides the guidance display on the opposite lane side of the left guidance display and the right guidance display. Set to display.

  Moreover, the display control part 19 may display a guidance display according to the detection result by the parking candidate area | region detection part 13. FIG. Specifically, for example, the display control unit 19 causes the display device 20 to display an image indicating a parking candidate area. Or the display control part 19 mutually differs in the guidance display based on the effective detection range containing a parking candidate area | region, and the guidance display based on the effective detection range which does not contain a parking candidate area | region among left guidance displays and right guidance displays. To display. Or the display control part 19 sets non-display the guidance display based on the effective detection range which does not include a parking candidate area | region among left guidance displays and right guidance displays.

  Moreover, the display control part 19 may acquire the information which shows the present steering angle from the steering apparatus 7, and may display a guidance display according to a steering angle. Specifically, for example, the display control unit 19 causes the display device 20 to display an image indicating the traveling direction of the host vehicle 1 based on the current steering angle. In FIG. 1, connection lines between the steering device 7 and the display control unit 19 are not shown.

  The display device 20 includes at least one of a display 21, a HUD (Head-Up Display) 22, or a road surface projector 23. FIG. 1 shows an example in which a display 21, a HUD 22, and a road surface projector 23 are all provided.

  The display 21 is configured by, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, a plasma display, or a cathode ray tube display. As the display 21, for example, a display of an in-vehicle information device such as a navigation device or a display audio device mounted on the host vehicle 1 can be used. Alternatively, the display 21 may be a so-called “integrated instrument panel” display that is a digital display mounted on the host vehicle 1. Alternatively, a display of a portable information terminal such as a smartphone, a tablet computer, or a PND (Portable Navigation Device) brought into the host vehicle 1 can be used as the display 21.

  When the display device 20 is configured by the display 21, the display control unit 19 outputs image data corresponding to the front image and image data corresponding to the guidance display to the display 21. The display 21 superimposes the guidance display on the front image and displays it on the screen under the control of the display control unit 19. That is, the display screen of the display 21 is a screen in which a guidance display is superimposed on the front landscape.

  The HUD 22 is configured by, for example, a projector provided on the dashboard or ceiling portion of the host vehicle 1. The HUD 22 projects an image onto the windshield of the host vehicle 1 or a half mirror (so-called “combiner”) arranged to face the windshield.

  When the display device 20 includes the HUD 22, the display control unit 19 outputs image data corresponding to the guidance display to the HUD 22. Under the control of the display control unit 19, the HUD 22 displays an image corresponding to the guidance display on the windshield or the screen so that the guidance display is superimposed on the front scenery over the windshield as viewed from the driver's seat of the host vehicle 1. Project onto the combiner.

  The road surface projector 23 is constituted by, for example, a projector provided integrally with the headlamp of the host vehicle 1. The road surface projector 23 projects light having an arbitrary shape and color onto the road surface in front of the host vehicle 1.

  When the display device 20 is configured by the road surface projector 23, the display control unit 19 outputs image data corresponding to the guidance display to the road surface projector 23. The road surface projector 23 is light corresponding to the image of the guidance display so that the guidance display is superimposed on the front scenery through the windshield when viewed from the driver's seat of the host vehicle 1 under the control of the display control unit 19. To the front road surface.

  Hereinafter, the display of the image by the display 21, the projection of the image by the HUD 22, and the light projection corresponding to the image by the road surface projector 23 are collectively referred to simply as “display”. That is, the meaning of the term “display” described in the claims of the present application is not limited to the display of the image on the display 21, but at least the projection of the image by the HUD 22 and the road surface projector 23. It also includes light projection corresponding to the image.

  The obstacle detection unit 12, the parking candidate area detection unit 13, the display condition determination unit 18, and the display control unit 19 constitute a guidance display control unit 24. The parking assistance control unit 5 and the guidance display control unit 24 constitute a parking assistance device 100.

  In FIG. 2, an example of the hardware constitutions of the parking assistance apparatus 100 is shown. As shown in FIG. 2, the parking assistance device 100 is configured by a computer and includes a processor 31 and a memory 32. The memory 32 stores a program for causing the computer to function as the parking assist control unit 5 and the guidance display control unit 24 shown in FIG. When the processor 31 reads and executes the program stored in the memory 32, the functions of the parking assistance control unit 5 and the guidance display control unit 24 shown in FIG. 1 are realized.

  The processor 31 is configured by, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), a microcontroller, or a microprocessor. The memory 32 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Memory). Yes.

  Alternatively, as shown in FIG. 3, the parking assistance device 100 is configured by a dedicated processing circuit 33. The processing circuit 33 is, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a system LSI (Large-Scale Integration), or a combination thereof.

  Note that the functions of the respective units of the parking assist control unit 5 and the guidance display control unit 24 shown in FIG. Specifically, for example, the function of the parking support control unit 5 is realized by a processing circuit 33 of an ECU (Electronic Control Unit) mounted on the host vehicle 1 and the processing circuit of the navigation device mounted on the host vehicle 1 is used. The function of the guidance display control unit 24 may be realized by 33.

  Alternatively, some of the functions of the parking assist control unit 5 and the guidance display control unit 24 shown in FIG. 1 are realized by the processor 31 and the memory 32 shown in FIG. 2, and the remaining functions are executed by the processing circuit 33 shown in FIG. It may be realized.

  Next, with reference to the flowchart of FIG. 4, the operation of the parking assistance device 100 will be described focusing on the operation of the guidance display control unit 24. When an operation for instructing the start of parking assistance is input to an input device (not shown), or when a predetermined start condition set in advance is satisfied, the parking assistance device 100 starts the process of step ST1.

  First, in step ST1, the display condition determination unit 18 performs various determinations. That is, the display condition determination unit 18 determines whether or not the host vehicle 1 is traveling. When the host vehicle 1 is traveling, the display condition determination unit 18 determines whether the traveling speed of the host vehicle 1 is equal to or higher than the reference speed. The display condition determination unit 18 determines whether or not the current position of the host vehicle 1 is on the road when the host vehicle 1 is stopped or when the host vehicle 1 is traveling at a travel speed lower than the reference speed. Determine. When the current position of the host vehicle 1 is on a road, the display condition determination unit 18 determines whether the road is a road having an oncoming lane. The display condition determination unit 18 outputs these determination results to the display control unit 19.

  Next, in step ST2, the display control unit 19 refers to the determination result input from the display condition determination unit 18 in step ST1. When the host vehicle 1 is traveling at a traveling speed equal to or higher than the reference speed (step ST2 “YES”), the display control unit 19 sets the guidance display to non-display. Further, the display control unit 19 instructs the display condition determination unit 18 to make another determination. Thereby, the process of the parking assistance apparatus 100 returns to step ST1.

  On the other hand, when the host vehicle 1 is stopped or when the host vehicle 1 is traveling at a traveling speed lower than the reference speed (step ST2 “NO”), the display control unit 19 causes the obstacle detecting unit 12 to Instruct the obstacle detection. In response to the instruction, in step ST <b> 3, the obstacle detection unit 12 detects an obstacle existing in front of the host vehicle 1 using the second sensor 11. That is, the obstacle detection unit 12 detects an obstacle such as another vehicle by acquiring a front image from the front photographing camera 10 and executing an image recognition process on the front image. The obstacle detection unit 12 outputs the front image and the detection result to the parking candidate area detection unit 13.

  Next, in step ST <b> 4, the parking candidate area detection unit 13 detects a parking candidate area that exists in front of the host vehicle 1. That is, the parking candidate area detection unit 13 uses the front image and the detection result input from the obstacle detection unit 12 in step ST3 and various information stored in advance in the parking candidate area detection unit 13 as a front image. Among the captured parking area, an area where no obstacle is detected is detected as a parking candidate area over a range larger than the size of the host vehicle 1. The parking candidate area detection unit 13 outputs the front image and the detection result to the display control unit 19.

  Next, in step ST5, the display control unit 19 causes the display device 20 to display a guidance display. At this time, the display control unit 19 refers to the determination result input from the display condition determination unit 18 in step ST1. When the current position of the host vehicle 1 is on a road and the road is a road having an opposite lane, the display control unit 19 hides the guidance display on the opposite lane side of the left guidance display and the right guidance display. Set to display.

  Moreover, at this time, the display control part 19 may display a guidance display according to a detection result with reference to the detection result input from the parking candidate area | region detection part 13 by step ST4. Specifically, for example, the display control unit 19 causes the display device 20 to display an image indicating a parking candidate area. Or the display control part 19 mutually differs in the guidance display based on the effective detection range containing a parking candidate area | region, and the guidance display based on the effective detection range which does not contain a parking candidate area | region among left guidance displays and right guidance displays. To display. Or the display control part 19 sets non-display the guidance display based on the effective detection range which does not include a parking candidate area | region among left guidance displays and right guidance displays.

  At this time, the display control unit 19 may acquire information indicating the current steering angle from the steering device 7 and display a guidance display according to the steering angle. Specifically, for example, the display control unit 19 causes the display device 20 to display an image indicating the traveling direction of the host vehicle 1 based on the current steering angle.

  Next, in step ST6, the automatic parking control unit 6 determines whether or not automatic parking is possible. That is, the automatic parking control unit 6 performs a process of detecting a parking area using the first sensor 4 in the background of the processes of steps ST3 to ST5 by the guidance display control unit 24. The automatic parking control unit 6 determines that automatic parking is possible when a parking area is detected. The automatic parking control unit 6 determines that automatic parking is not possible when no parking area is detected.

  When it is determined that automatic parking is possible (step ST6 “YES”), the automatic parking control unit 6 notifies the display control unit 19 to that effect. In step ST7, the automatic parking control unit 6 executes automatic parking. Further, upon receiving a notification from the automatic parking control unit 6, the display control unit 19 ends the guidance display in step ST8. In step ST7, the automatic parking control unit 6 may execute automatic parking only when an operation for permitting execution of automatic parking is input to an input device (not shown).

On the other hand, when it is determined that automatic parking is not possible (step ST6 “NO”), the automatic parking control unit 6 notifies the display control unit 19 to that effect. Next, in step ST9, the display control unit 19 determines whether or not to end the guidance display. That is, when an operation for instructing the end of the guidance display is input to an input device (not shown), or when a predetermined end condition set in advance is satisfied (step ST9 “YES”), the display control unit 19 Proceeding to step ST8, the guidance display is terminated. In other cases (step ST9 “NO”), the display control unit 19 instructs the display condition determination unit 18 to make another determination. Thereby, the process of the parking assistance apparatus 100 returns to step ST1.

  Next, an example of the effective detection range by the first sensor 4 will be described with reference to FIG. The effective detection range by the first sensor 4 includes an effective detection range based on the host vehicle 1 (hereinafter referred to as “first effective detection range”) and an effective detection range based on obstacles such as other vehicles (hereinafter referred to as “first detection range”). "Second effective detection range"). The guidance display according to the first embodiment is based on the first effective detection range.

As shown in FIG. 5, in the left ultrasonic sensor 2 for parking assistance, the theoretical minimum distance at which an obstacle can be detected is 0 meter, and the maximum distance is 4.0 meters. Among these, the minimum distance at which obstacles to be detected by parking assistance can be detected stably and normally is 0.5 meters, and the maximum distance is 2.5 meters. In this case, the range of 0.5 m to 2.5 m with a vehicle 1 as a reference is the first effective detection range A _L by the left ultrasonic sensor 2.

Similarly, in the right ultrasonic sensor 3 for parking assistance, the theoretical minimum distance at which an obstacle can be detected is 0 meter, and the maximum distance is 4.0 meters. Among these, the minimum distance at which obstacles to be detected by parking assistance can be detected stably and normally is 0.5 meters, and the maximum distance is 2.5 meters. In this case, the range of 0.5 m to 2.5 m with a vehicle 1 as a reference is the first effective detection range A _R by the right ultrasonic sensor 3.

The value of the maximum distance on the detectable theoretical obstacle by the first sensor 4 is not intended to be limited to 4.0 meters the first effective detection range A _L, the value of A _R is 0.5 m It is not limited to ~ 2.5 meters. These values are examples, and differ depending on the type and performance of the first sensor 4 and the environmental temperature during use.

That is, when the parking assist control unit 5 performs the parking assist, the first effective detection range A _L relative to the vehicle _1, the inner end portion A _LI of A _R, obstacle inside the A _RI is first 1 sensor 4 cannot be used for normal detection. The first effective detection range A _L relative to the vehicle _1, the outer end portions A _LO of A _R, obstacle outside the A _RO is to be detected correctly using the first sensor 4 Can not. For this reason, for example, there is a problem that an area where an obstacle exists is erroneously detected as a parking area. For this problem, the induction display of the first embodiment, the parking assistance by the detection subject to obstruction first effective detection range A _L, to be a A _R out, prior to the execution of the parking assist This is to inform the driver of the own vehicle 1.

Next, an example of guidance display will be described with reference to FIGS. The host vehicle 1 is traveling in the parking lot at a traveling speed less than the reference speed. Three other vehicles B _L1 , B _L2 , and B _L4 are parked on the left front side of the host vehicle 1. The right front with respect to the vehicle 1, four other vehicles _B R1 _{.about.B R4} is parked. A parking candidate area exists between the other vehicles B _L2 and B _L4 on the left front side.

In FIG. 6, an arrow image C shows the traveling direction of the host vehicle 1 when the host vehicle 1 travels in a state where the current steering angle is maintained (going straight in the example of FIG. 6). Arrow image C _L1 shows a trajectory of the left side of the vehicle 1 in the same case. The arrow image _CR1 shows a locus on the right side of the host vehicle 1 in the same case. The arrow image C _L2 shows the locus of the outer end portion A _LO of the first effective detection range A _{L in} the same case. Arrow image _{C R2} are in the same case, which shows the locus of the outer end portion _{A RO} of the first effective detection range _{A R.} Arrow image _{D L} shows the parked candidate region between another vehicle _{B L2, B L4.}

That is, when the host vehicle 1 travels from the state shown in FIG. 6 while maintaining the current steering angle, the other vehicles B _L1 , B _L2 , and B _L4 on the left front side are the front end or rear end of each vehicle. parts (hereinafter, collectively referred to as "nose".) enters into the first effective detection range a _L. On the other hand, none of the other vehicle _B L1 _{.about.B L4} of the front right becomes the first effective detection range _{A R} out.

The display control unit 19, these arrow image _C, and _{C L1, C R1, C L2} , C R2, D L, to be displayed on the display device 20 in a state of being superimposed on the scene ahead. That has left guidance display is constituted, the right guidance display by arrow image _{C R1, C R2} is constituted by the arrow image _{C L1, C L2, D L} . The left guidance display, right guidance display, and arrow image C constitute a guidance display.

FIG. 7 shows an example in which a guidance display corresponding to the content of FIG. 6 is displayed on the display 21 of the navigation device. 7, the other vehicle _{B L1, B L2, B L4} to be the first effective detection range _A in _L, arrow image _{C L2} corresponding to the outer end _{A LO} of the first effective detection range _{A L} is superimposed ing. On the other hand, another vehicle _B R1 _{.about.B R4} to be the first effective detection range _{A R} out is out of arrow image _{C R2} corresponding to the outer end _{A RO} of the first effective detection range _{A R.} Thus, the vehicle 1 of the driver, the arrangement of the arrow image _{C L2, C R2} for the other vehicles _{B L1, B L2, B L4} , B R1 ~B R4, another vehicle _{B L1, B L2, B L4} for each of the _B R1 _{.about.B R4,} first effective detection range _a L of the first sensor 4, whether the inside _{a R} can be visually grasped.

In the example shown in FIGS. 6 and 7, left guidance display is the guidance display based on the first effective detection range A _L comprising a parking candidate region, the first effective detection range right guidance display does not include a parking candidate region A _R It is a guidance display based on. Therefore, the display control unit 19 may display the right guidance display and the left guidance display in different modes. Specifically, for example, the display control unit 19 _reduces the color of the arrow images C _R1 and _{CR2 with} respect to the arrow images C _L1 and C _L2 , or _reduces the brightness of the arrow images C _R1 and CR2. The thickness of the arrow images C _R1 and C _R2 is reduced. Alternatively, the display control unit 19 blinks the arrow images C _L1 and C _L2 . Alternatively, the display control unit 19 sets only the arrow images C _R1 and C _{R2 in} the guidance display to non-display.

In the example shown in FIGS. 6 and 7, the arrow image C indicating the traveling direction of the vehicle 1, not a mandatory display of the arrow image D _L indicating a parking candidate region. The guidance display may be constituted only by the remaining arrow images C _L1 , C _R1 , C _L2 , and C _R2 .

Next, another example of guidance display will be described with reference to FIGS. Band image E _L shown in FIG. 8, when the vehicle 1 has traveled in a state of maintaining the current steering angle (straight in the example of FIG. 8), the first effective detection range A in which the vehicle 1 as a reference _This corresponds to the locus of _L. That is, the strip image _{E L} indicates the locus of the inner end portion _{A LI} and an outer end portion _{A LO} of the first effective detection range _{A L} in this case. Further, belt-shaped image E _R, correspond to the locus of the first effective detection range A _R in the same case. That is, the strip image _{E R} indicates the locus of the inner end portion _{A RI} and an outer end portion _{A RO} of the first effective detection range _{A R} in this case.

The display control unit 19, belt-shaped image E _L, is displayed on the display device 20 in a state superimposed with E _R forward scenery. That is, the belt-shaped image E _L and left guidance display is constituted, the right guidance display is constituted by a belt-shaped image E _R. FIG. 9 shows an example in which a guidance display corresponding to the content of FIG. 8 is displayed on the display 21 of the integrated instrument panel.

At this time, the display control unit 19, the portion including the outer end portions A _LO of the belt-shaped image E _L, may be one to be displayed in a different manner with respect to the site of the residual. Similarly, the display control unit 19, the portion including the outer end portions A _RO of the belt-shaped image E _R, may be the one to be displayed in a different manner with respect to the site of the residual. In the example of FIGS. 8 and 9, the portion including the outer end portions A _LO and A _RO is displayed in a darker color than the remaining portion.

  In addition, the display control part 19 may implement | achieve the guidance display similar to what was illustrated in FIGS. 6-9 by HUD22. Moreover, the display control part 19 may implement | achieve the guidance display similar to what was illustrated in FIGS. 6-9 by the road surface projector 23. FIG.

  The first sensor 4 is a parking assist sensor, that is, a sensor that has an effective detection range of about several tens of centimeters to several meters and can detect obstacles around the host vehicle 1. It is only necessary to use an ultrasonic sensor. For example, the first sensor 4 may be configured by a laser sensor, a radar sensor, or an image sensor. Or the 1st sensor 4 may be comprised by the camera which image | photographs the circumference | surroundings of the own vehicle 1. FIG. In this case, the parking support control unit 5 may convert the image captured by the camera into a bird's-eye view image and perform parking support using a so-called “around view monitor” (registered trademark) or “surround view monitor”. .

  The second sensor 11 may be any sensor that can detect an obstacle existing in front of the host vehicle 1 and is not limited to the front photographing camera 10. In addition, when the display device 20 is configured by the display 21 and the second sensor 11 is configured by a sensor different from the front photographing camera 10, the second sensor 11 is separate from the viewpoint of displaying the front image on the display 21. It is preferable to provide the front photographing camera 10 at the front.

In addition, the host vehicle 1 may have a system configuration in which the second sensor 11, the obstacle detection unit 12, and the parking candidate area detection unit 13 illustrated in FIG. 1 are removed. In this case, the guidance display by the display control unit 19, and excluding the arrow image D _L indicating a parking candidate region.

  Moreover, the parking assistance by the parking assistance control part 5 should just use the 1st sensor 4, and is not limited to the automatic parking by the automatic parking control part 6. FIG. The parking assistance by the parking assistance control unit 5 may display the detection result by the first sensor 4 on the display 21, for example. Alternatively, the parking support by the parking support control unit 5 may guide the detection result by the first sensor 4 by voice output using a speaker (not shown) provided in the host vehicle 1.

  Further, the content of the guidance display is not limited to the examples shown in FIGS. The guidance display is based on the effective detection range of the first sensor 4 and informs the driver of the own vehicle 1 that an obstacle existing in front of the own vehicle 1 is outside the effective detection range. Any display may be used as long as it can guide the host vehicle 1 so that an obstacle existing in front of the host vehicle 1 is within the effective detection range. In the second embodiment to be described later, another example of guidance display based on the first effective detection range will be described. In the third embodiment to be described later, an example of guidance display based on the second effective detection range will be described.

  Moreover, when the own vehicle 1 passes the parking candidate area, the display control unit 19 may display a predetermined image indicating that on the display device 20. Accordingly, the driver of the host vehicle 1 can visually grasp that the host vehicle 1 has passed the parking candidate region, and can pay attention to the next parking candidate region.

  Further, the display control unit 19 includes a guidance display in which at least one of the obstacles detected by the obstacle detection unit 12 is within the first effective detection range among the left guidance display and the right guidance display, and obstacle detection. The guidance display in which all obstacles detected by the unit 12 are outside the first effective detection range may be displayed in a different manner. Specifically, for example, the display control unit 19 reduces the color of the latter guidance display with respect to the former guidance display, reduces the brightness of the latter guidance display, or sets the thickness of the latter guidance display. Or make it thinner.

  In the flowchart of FIG. 4, when the current position of the host vehicle 1 is on the road in step ST1, it is determined whether the road is a road having an oncoming lane, and the road in step ST5. In the case where is a road having an oncoming lane, the process of setting the oncoming lane side guidance display of the left guidance display and the right guidance display to non-display is not an essential process. When these processes are not performed, the storage device 16 and the GPS receiver 17 shown in FIG. 1 are unnecessary.

  In the flowchart of FIG. 4, an example in which guidance display is started when the host vehicle 1 is stopped or when the host vehicle 1 is traveling at a traveling speed lower than the reference speed (step ST <b> 2 “NO”). However, the guidance display start condition is not limited to this. The display control unit 19 may start the guidance display when an operation for instructing the start of guidance display is input to an input device (not shown). The display control unit 19 also uses the detection result of the obstacle detection unit 12 to determine whether or not there is another vehicle parked in each of the left and right regions with respect to the host vehicle 1, and the left guidance display and the right Of the guidance display, the guidance display on the side where no other vehicle is parked may be set to non-display.

  Further, the vehicle speed sensor 14 and the shift position sensor 15 are connected to the parking support control unit 5, and the parking support control unit 5 executes part of the determination in step ST1 instead of the display condition determination unit 18, and the determination result May be input to the display condition determination unit 18.

As described above, the parking support apparatus 100 according to the first embodiment uses the first sensor 4 for parking support provided in the host vehicle 1, the parking support control unit 5 that performs parking support of the host vehicle 1, and And a guidance display control unit 24 that causes the display device 20 to display guidance display based on the first effective detection ranges A _L and A _R by the first sensor 4 in a state of being superimposed on a front landscape with respect to the host vehicle 1. Thus, when performing the parking assistance, that obstacle to be detected by the first sensor 4 is first effective detection range A _L, to prevent the the A _R out, thereby improving the reliability of the parking assist it can.

  The parking support control unit 5 uses the first sensor 4 to automatically park the host vehicle 1. Thereby, the certainty of automatic parking can be improved.

Further, the guidance display indicates the outer end portions A _LO and A _RO for the _host vehicle 1 in the first effective detection ranges A _L and A _R. Thus, the vehicle 1 the driver can grasp the first effective detection range _A L, the outer end portions _A LO of _{A R,} the _{A RO} visually.

Moreover, induction display illustrates the first effective detection range _A L, the outer end portions _A LO with respect to the vehicle 1 of _{A R, A RO} and inner end _{A LI,} the _{A RI.} Thus, the vehicle 1 the driver can grasp the first effective detection range _A L, the inner end portion _A LI of _{A R,} the _{A RI} visually.

Also, guidance display is the first effective detection range _A L, _A band images corresponding to _{R E} L, is intended to display the _{E R,} guidance display control unit 24, belt-shaped image _E L, of _{E R} The part including the outer end portions A _LO and A _RO and the remaining part are displayed in different modes. The illustrated induction shown in Figure 8 and 9, the first effective detection range A _L, A _R of the outer end portion A _LO, can be displayed clarity visually the A _RO.

Also, guidance display are those that contain a left guidance display based on the first effective detection range A _L of the left with respect to the vehicle 1, and a right guidance display based on the first effective detection range A _R of the right with respect to the vehicle 1 The guidance display control unit 24 performs guidance display based on the first effective detection ranges A _L and A _R including a parking candidate area that is a candidate of a parking area possible for the host vehicle 1 among the left guidance display and the right guidance display. And the guidance display based on the first effective detection ranges A _L and A _R that do not include the parking candidate area are displayed in different modes. As a result, the driver of the host vehicle 1 can easily understand visually whether the parking candidate area exists on the left or right.

Alternatively, the induction display, which includes a left guidance display based on the first effective detection range A _L of the left with respect to the vehicle 1, and a right guidance display based on the first effective detection range A _R of the right with respect to the vehicle 1 The guidance display control unit 24 performs guidance based on the first effective detection ranges A _L and A _R that do not include a candidate parking area that is a candidate for a parking area of the host vehicle 1 among the left guidance display and the right guidance display. Set the display to hidden. As a result, the driver of the host vehicle 1 can easily understand visually whether the parking candidate area exists on the left or right.

  Further, the guidance display control unit 24 displays a guidance display when the host vehicle 1 is stopped or when the host vehicle 1 is traveling at a travel speed lower than the reference speed. That is, when the host vehicle 1 is traveling at a traveling speed equal to or higher than the reference speed, there is a high probability that the driver of the host vehicle 1 does not intend to park. In such a case, by setting the guidance display to non-display, it is possible to prevent the guidance display unnecessary for the driver from being displayed.

Also, guidance display are those that contain a left guidance display based on the first effective detection range A _L of the left with respect to the vehicle 1, and a right guidance display based on the first effective detection range A _R of the right with respect to the vehicle 1 When the position of the host vehicle 1 is on a road and the road has an opposite lane, the guidance display control unit 24 does not display the guidance display on the opposite lane side of the left guidance display and the right guidance display. Set to display. In general, when the host vehicle 1 is traveling on a road, a parking lot on the opposite lane side has a high probability that parking is difficult or impossible. By setting the guidance display on the opposite lane side to non-display, it is possible to prevent the guidance display that is less important for the driver from being displayed.

Embodiment 2. FIG.
FIG. 10 is a functional block diagram showing the main part of the parking assist device according to Embodiment 2 of the present invention. With reference to FIG. 10, the parking assistance apparatus 100a of Embodiment 2 is demonstrated. In FIG. 10, the same blocks as those in the functional block diagram of the first embodiment shown in FIG.

  The parking candidate area detection unit 13 a detects a parking candidate area using the detection result obtained by the obstacle detection unit 12. Since the specific detection method of a parking candidate area | region is the same as that of the parking candidate area | region detection part 13 shown in FIG. 1, description is abbreviate | omitted. The parking candidate area detection unit 13a outputs the front image, the detection result by the obstacle detection unit 12, and the detection result by the parking candidate area detection unit 13a to the display control unit 19a.

  The display control unit 19a causes the display device 20 to display a guidance display. Similar to the display control unit 19 shown in FIG. 1, the display control unit 19 a displays a guidance display according to the determination result by the display condition determination unit 18. Moreover, the display control part 19a may display a guidance display according to the detection result by the parking candidate area | region detection part 13a similarly to the display control part 19 shown in FIG. The display control unit 19a acquires information indicating the current steering angle from the steering device 7 and displays a guidance display according to the steering angle, similarly to the display control unit 19 shown in FIG. Also good.

The display control unit 19a may display a guidance display according to the detection result by the obstacle detection unit 12. Specifically, for example, information indicating the first effective detection ranges A _L and A _R is stored in advance in the display control unit 19a. The display control unit 19a includes information indicating the first effective detection ranges A _L and A _R , the detection result by the obstacle detection unit 12 input from the parking candidate area detection unit 13a, and the current steering acquired from the steering device 7. Among the obstacles detected by the obstacle detection unit 12 using the information indicating the angle, the first effective detection range A _L , A when the host vehicle 1 travels while maintaining the current steering angle. Detect obstacles outside _R. When the obstacle is detected, the display control unit 19a causes the display device 20 to display a predetermined image (hereinafter referred to as “warning image”) superimposed on the obstacle.

Alternatively, the display control unit 19a has the first effective detection ranges A _L and A _R when the host vehicle 1 travels while maintaining the current steering angle among the obstacles detected by the obstacle detection unit 12. When there is an obstacle that is outside, a travel route (hereinafter referred to as “recommended route”) of the own vehicle 1 that can enter the obstacle within the first effective detection ranges A _L and A _R is calculated. The display control unit 19a causes the display device 20 to display an image indicating the calculated recommended route.

  The obstacle detection unit 12, the parking candidate area detection unit 13a, the display condition determination unit 18, and the display control unit 19a constitute a guidance display control unit 24a. The parking assistance control unit 5 and the guidance display control unit 24a constitute a parking assistance device 100a.

  Since the hardware configuration of the parking support apparatus 100a is the same as the hardware configuration of the parking support apparatus 100 illustrated in FIG. 2 or FIG. 3, illustration and description thereof are omitted. Moreover, since the operation of the parking assistance apparatus 100a is the same as that described with reference to the flowchart of FIG. 4 in the first embodiment, illustration and description thereof are omitted.

  Hereinafter, the guidance display by the guidance display control unit 24a will be described with reference to FIGS. FIGS. 11 to 15 each show an example in which the host vehicle 1 is a so-called “right steering wheel” four-wheeled vehicle, and the display device 20 uses the HUD 22. That is, in the figure, 41 is a windshield of the host vehicle 1, 42 is a window frame portion of the windshield 41, and 43 is a steering wheel of the host vehicle 1. Also, in all of FIGS. 11 to 15, illustration of the right guidance display is omitted. The right guidance display omitted in each figure is the same as the left guidance display in each figure reversed left and right.

Guidance display shown in Fig. 11 are those containing a arrow image C indicating the traveling direction of the vehicle 1, and a belt-shaped image E _L shows trajectories of a first effective detection range A _L. That is, the arrow image C is the same as that shown in FIGS. 6 and 7, and the belt-like image _EL is the same as that shown in FIGS.

Figure 11A is a vehicle 1 when the vehicle travels along the arrow image C, and shows a state other vehicles _{B L1, B L2, B L4} of the front left falling either within a first effective detection range _{A L.} In this case, guidance display, in addition to the arrow image C and the belt-shaped image E _L, may include an arrow image D _L indicating a parking candidate region. The arrow image _DL is the same as that shown in FIGS.

On the other hand, FIG. 11B shows a state in which the other vehicle B _L4 is outside the first effective detection range A _L when the host vehicle 1 travels along the arrow image C. In this case, guidance display, in addition to the arrow image C and the belt-shaped image E _L, becomes including warning image F _L superimposed on another vehicle B _L4. In the example of FIG. 11B, a warning image F _L is a rectangular image with a different color and strip image E _L.

Incidentally, the left induction display, the linear image corresponding to only (region displayed i.e. in darker than the site of residual color) portion including an outer edge portion A _LO of the belt-shaped image E _L shown in FIG. 11 It may be displayed. An example of the linear image _{GL in} this case is shown in FIG.

In addition to the linear image _GL shown in FIG. 12, the left guidance display displays an image occupying an area between the linear image _GL and the arrow image C (hereinafter referred to as “region image”). There may be. An example of the region image _{HL in} this case is shown in FIG.

The guidance display shown in FIG. 14 includes an arrow image C indicating the traveling direction of the host vehicle 1 as in the examples of FIGS. In addition, guidance display shown in Figure 14, superimposed on each other vehicles _{B L1, B L2, B L4} entering in the first effective detection range _{A L} by the traveling of the vehicle 1, the first effective detection it is for displaying a rectangle image I _L corresponding to the site containing the outer end a _LO of the range a _L.

Figure 14A is the vehicle 1 when the vehicle travels along the arrow image C, and shows a state other vehicles _{B L1, B L2, B L4} of the front left falling either within a first effective detection range _{A L.} In this case, the quadrangle image _IL is displayed so as to be superimposed on each of the other vehicles B _L1 , B _L2 and B _L4 .

On the other hand, FIG. 14B shows a state in which the other vehicle B _L4 is outside the first effective detection range A _L when the host vehicle 1 travels along the arrow image C. In this case, superimposed on each other vehicles _{B L1, B L2} entering the first within the effective detection range _{A L,} square image _{I L} is displayed. On the other hand, another vehicle _{B L4} to be the first effective detection range _{A L} out, instead of the square image _{I L,} the same warning image _{F L} and 11B are superimposed.

Also, the recommended route display control unit 19a is capable of other vehicles _{B L4} as shown in FIG. 14B to put the case to be the first effective detection range _{A L} out, the other vehicles _{B L4} to the first effective detection range _A in _L And a guidance display including the recommended route may be displayed on the display device 20. An example of the guidance display in this case is shown in FIG. In FIG. 15, an arrow image J shows a recommended route.

At this time, the display control unit 19a is superimposed on another vehicle B _L4, both images of the warning image F _L and square image I _L may be one that is displayed offset from one another. A display manner of the arrow image J with respect to the arrow image C, to have a commonality in the display mode of the square image I _L for warning image F _L (e.g., displaying the arrow image C and the warning image F _L at mutually the same color and arrow images J and square image I _L a color different from that of the same time to display in the same color to each other, than the warning image F _L square image I _L to be displayed on the left side) by the own vehicle for one of the driver, whereas the other vehicles B _L4 If operated according to the arrow image C becomes the first effective detection range a _L out, if the plant is operated according to the arrow image J (recommended route) another vehicle B _L4 is the be within 1 effective detection range a _L can be easy understanding in visually.

Note that the display control unit 19a may realize guidance display similar to that illustrated in FIGS. Moreover, the display control part 19 may implement | achieve the guidance display similar to what was illustrated in FIGS. 11-15 by the road surface projector 23. FIG. If display device 20 is a display 21 or HUD22, warning image F _L and a square image I _L is actually displayed is shaped parallelogram, also a parallelogram-like shape viewed from the driver of the vehicle 1 It becomes. When the display device 20 is the road surface projector 23, the warning image _FL and the square image _IL are actually displayed in a rectangular shape, while the shape viewed from the driver of the host vehicle 1 is a parallelogram. Become.

  In addition, the guidance display by the guidance display control unit 24a is not limited to the examples illustrated in FIGS. The guidance display is based on the effective detection range of the first sensor 4 and informs the driver of the own vehicle 1 that an obstacle existing in front of the own vehicle 1 is outside the effective detection range. Any display may be used as long as it can guide the host vehicle 1 so that an obstacle existing in front of the host vehicle 1 is within the effective detection range.

  In addition, the parking assist device 100a according to the second embodiment can employ various modifications similar to those described in the first embodiment.

As described above, the parking assist device 100a according to the second embodiment uses the first sensor 4 for parking assist provided in the host vehicle 1 to perform the parking assist control unit 5 that supports the parking of the host vehicle 1, and And a guidance display control unit 24a that causes the display device 20 to display guidance display based on the first effective detection ranges A _L and A _R by the first sensor 4 in a state of being superimposed on a front landscape with respect to the host vehicle 1. Thereby, like the parking assistance apparatus 100 of Embodiment 1, the certainty of parking assistance can be improved.

The guidance display control unit 24a detects an obstacle existing in front of the host vehicle 1 by using the second sensor 11 provided in the host vehicle 1, and displays a guidance display according to the detection result of the obstacle. . Thereby, the guidance display according to obstructions, such as other vehicles B _L1 , B _L2 , B _L4 , can be displayed.

Also, guidance display control unit 24a, the first effective detection range A _L where the vehicle 1 as a _reference, which displays the guidance display based on A _R, guidance display is the first effective detection range A _L, A A rectangular image I _L corresponding to the first effective detection ranges A _L and A _R is superimposed and displayed on the obstacle in _R. Thus, it is possible to display clarity each obstacle first effective detection range A _L, whether or not to enter into the A _R visually present ahead of the vehicle 1.

Also, guidance display is to first effective detection range A _L, by superimposing a warning image F _L to A _R out of the obstacle to display. Thereby, among the obstacles existing in front of the host vehicle 1, the obstacles outside the first effective detection ranges A _L and A _R can be displayed in an easily understandable manner.

The guidance display shows a recommended route of the host vehicle 1. The display of the arrow image J indicates that when there is an obstacle that is outside the first effective detection ranges A _L and A _R when the host vehicle 1 travels with the current steering angle maintained, the obstacle is 1 The recommended routes that can be entered in the effective detection ranges A _L and A _R can be displayed in a visually easy-to-understand manner.

Embodiment 3 FIG.
FIG. 16 is a functional block diagram showing the main part of the parking assistance apparatus according to Embodiment 3 of the present invention. With reference to FIG. 16, the parking assistance apparatus 100b of Embodiment 3 is demonstrated. In FIG. 16, the same blocks as those in the functional block diagram of the first embodiment shown in FIG.

  The parking candidate area detection unit 13b detects a parking candidate area using the detection result of the obstacle detection unit 12. Since the specific detection method of a parking candidate area | region is the same as that of the parking candidate area | region detection part 13 shown in FIG. 1, description is abbreviate | omitted. The parking candidate area detection unit 13b outputs the front image, the detection result by the obstacle detection unit 12, and the detection result by the parking candidate area detection unit 13b to the display control unit 19b.

  The display control unit 19b displays the guidance display on the display device 20. Similar to the display control unit 19 shown in FIG. 1, the display control unit 19 b displays a guidance display according to the determination result by the display condition determination unit 18. Moreover, the display control part 19b may display a guidance display according to the detection result by the parking candidate area | region detection part 13b similarly to the display control part 19 shown in FIG. The display control unit 19b acquires information indicating the current steering angle from the steering device 7 and displays a guidance display according to the steering angle, as in the display control unit 19 shown in FIG. Also good.

  Here, the guidance display by the display control unit 19b is based on the second effective detection range based on the obstacle instead of or in addition to the first effective detection range based on the own vehicle 1. Information indicating the first effective detection range is stored in advance in the display control unit 19b. The display control unit 19b uses the information indicating the first effective detection range and the detection result by the obstacle detection unit 12 to calculate the second effective detection range for each obstacle indicated by the detection result. Yes. A specific example of the second effective detection range will be described later with reference to FIG.

  The obstacle detection unit 12, the parking candidate area detection unit 13b, the display condition determination unit 18, and the display control unit 19b constitute a guidance display control unit 24b. The parking assistance control unit 5 and the guidance display control unit 24b constitute a parking assistance device 100b.

  Since the hardware configuration of the parking support apparatus 100b is the same as the hardware configuration of the parking support apparatus 100 shown in FIG. 2 or FIG. Moreover, since the operation of the parking assistance apparatus 100b is the same as that described with reference to the flowchart of FIG. 4 in the first embodiment, illustration and description thereof are omitted.

Next, an example of the second effective detection range will be described with reference to FIG. The first effective detection range A _L shown in FIG. 17 is effective detection range of the vehicle 1 as a reference, is similar to that shown in FIG. 5 or the like.

In contrast, the first effective detection range A _L equivalent range based on the obstacle is the second effective detection range K _L. In the example of FIG. 17, the range of 0 m to 2.0 m relative to the nose portion of another vehicle B _L1 is the second effective detection range K _L. That is, the second effective detection range K _L, when the left ultrasonic sensor 2 by the running of the vehicle 1 enters within the range, stable normally detectable by the obstacle by using the left ultrasonic sensor 2 Indicates the range.

Further, as shown in FIG. 17, the range obtained by adding the first predetermined range L _L of the first display reference range M _L in second effective detection range K _L. For example, the first predetermined range L _L is set to a value (2.0 meters in the example of FIG. 17) corresponding to the distance between the inner end A _{LI of} the first effective detection range A _L and the driver's seat of the host vehicle 1. Has been. In the example of FIG. 17, the end N _L on the opposite side with respect to another vehicle B _L1 of the first display reference range M _L is disposed to the right of the right side of the vehicle 1.

Next, an example of guidance display by the guidance display control unit 24b will be described with reference to FIGS. 18 and 20, an arrow image C shows the traveling direction of the host vehicle 1 when the host vehicle 1 travels in a state where the current steering angle is maintained (in the example of FIGS. 18 and 20). ing. Linear images O _L is in this case shows the trajectory of the outer edge portion A _LO of the first effective detection range A _L. Linear images _{P L} corresponds to the line segment that connects the end portion _{N L} of the first display reference range _{M L} relative to the each of the other vehicles _{B L1, B L2, B L4} . The area image Q _L shows an area between the linear images O _L and P _L. The arrow image C, the linear images O _L and P _L, and the area image Q _L constitute a guidance display.

  FIG. 19 shows a state in which a guidance display corresponding to the content of FIG. 18 is displayed on the HUD 22. FIG. 21 shows a state in which a guidance display corresponding to the content of FIG. 20 is displayed on the HUD 22.

18 and 19 show a state other vehicles _{B L1, B L2, B L4} are parked in front left to enter both the first effective detection range _A in _L. In this case, all have linear image _{O L} is superimposed on another vehicle _{B L1, B L2, B L4} , the entire arrow image C is included in the region image _{Q L.}

On the other hand, FIGS. 20 and 21 show a state in which another vehicle _{B L4} is the first effective detection range _{A L} out. In this case, another vehicle B _L4 has disengaged from the linear image O _L, the distal end portion of the arrow image C protrudes outside region image Q _L. The guidance display shown in FIG. 21 shows that the driver of the host vehicle 1 can enter the other vehicle B _L4 within the first effective detection range A _L by adjusting the traveling direction of the host vehicle 1 to the left. Can be grasped.

Next, another example of guidance display by the guidance display control unit 24b will be described with reference to FIGS. As shown in FIG. 22, the range obtained by adding a second predetermined range R _L of the second display reference range S _L to the second effective detection range K _L. The second predetermined range R _L set, for example, to a value corresponding to the distance between the first effective detection range A inner end A _LI and the vehicle right side portion of the first _L (2.5 meters in the example of FIG. 22) Has been. In the example of FIG. 22, the end _TL on the opposite side of the second display reference range S _L with respect to the other vehicle B _L1 is arranged to the right of the right side of the host vehicle 1.

In this case, guidance display, as shown in FIGS. 23 and 24, the line segment connecting the ends _{T L} of the second display reference range _{S L} relative to the each of the other vehicles _{B L1, B L2, B L4} and linear images U _L corresponding image of the virtual obstacle disposed along the linear images U _L (hereinafter referred to as "virtual obstacle image".) may contain a V _L.

That is, the virtual obstacle image V _L displays an image of an obstacle that does not actually exist for the purpose of guiding the host vehicle 1. In the example of FIG. 23 and FIG. 24 the virtual obstacle image V _L is displayed corresponding to the plurality of traffic cone disposed along the linear images U _L. The driver of the host vehicle 1 who has visually recognized the virtual obstacle image V _L is expected to adjust the traveling direction of the host vehicle 1 to the left in order to avoid the virtual obstacle (road cone). This makes it possible to guide the host vehicle 1 as another vehicle B _L4 enters into the first effective detection range A _L.

Note that the first predetermined range L _L is not limited to a value corresponding to the interval between the inner end portion A _{LI of} the first effective detection range A _L and the driver's seat of the host vehicle 1. For example, the first predetermined range L _L may be set to a value corresponding to the interval between the inner end portion A _{LI of} the first effective detection range A _L and the central portion of the host vehicle 1.

Further, the second predetermined range R _L is not limited to a value corresponding to the interval between the inner end portion A _{LI of} the first effective detection range A _L and the right side portion of the host vehicle 1. The second predetermined range R _L may be, for example, one which is set to a value corresponding to the distance between the first effective detection range A _L inner end A _LI and self driver's seat of the vehicle 1.

Further, the virtual obstacle image V _L is not limited to the road cone image. The virtual obstacle image V _L may be, for example, an image representing a groove, a step or a crack provided on the road surface.

  Moreover, the display control part 19b may implement | achieve the guidance display similar to what was illustrated in FIGS. 18-21 by the display 21 similarly to the guidance display similar to what was illustrated in FIG.23 and FIG.24. . Moreover, even if the display control part 19b implement | achieves the guidance display similar to what was illustrated in FIGS. 18-21, or the guidance display similar to what was illustrated in FIG.23 and FIG.24 with the road surface light projector 23. FIG. good.

Further, FIGS. 18 to 21, in FIGS. 23 and 24, both the second effective detection range _{K L} that obstacle left with respect to the vehicle 1 (the other vehicles _{B L1, B L2, B L4} ) as a reference although an example of a guidance display based, the display control unit 19b, as with these examples, the second effective detection range obstacle rightward with respect to the vehicle 1 (the other vehicles B _{R1 .about.B L4)} as a reference It is also possible to display a guidance display based on.

  Moreover, the guidance display by the guidance display control part 24b is not limited to the example shown in FIGS. 18-21, It is not limited to the example shown in FIG.23 and FIG.24. The guidance display is based on the effective detection range of the first sensor 4 and informs the driver of the own vehicle 1 that an obstacle existing in front of the own vehicle 1 is outside the effective detection range. Any display may be used as long as it can guide the host vehicle 1 so that an obstacle existing in front of the host vehicle 1 is within the effective detection range.

  In addition, the parking assistance device 100b according to the third embodiment can employ various modifications similar to those described in the first and second embodiments.

As described above, the parking assistance device 100b according to the third embodiment uses the first sensor 4 for parking assistance provided in the host vehicle 1 to perform the parking support control unit 5 that supports parking of the host vehicle 1, and second effective detection range K _L by the first sensor _4, the guidance display based on K _R, and a guidance display control unit 24b for displaying on the display device 20 in a state of being superimposed on the scene ahead respect to the vehicle 1. Thereby, the reliability of parking assistance can be improved similarly to the parking assistance apparatus 100 of Embodiment 1 and the parking assistance apparatus 100a of Embodiment 2.

In addition, the guidance display control unit 24b detects an obstacle existing in front of the host vehicle 1 using the second sensor 11 provided in the host vehicle 1, and displays a guidance display according to the detection result of the obstacle. . Thereby, the guidance display according to obstructions, such as other vehicles B _L1 , B _L2 , B _L4 , can be displayed.

Also, guidance display control unit 24b, the second effective detection range K _L relative to the _obstacle, which displays the guidance display based on K _R, guidance display is the traveling direction of the vehicle 1, a second effective detection range K _L, illustrates the end portion N _L on the opposite side with respect to the obstacle of the first display reference range M _L containing K _R. The illustrated induction displayed in FIGS. 18 to 21, the vehicle 1 of the driver, whether it is possible to put the vehicle right or left to adjust them if obstacles the traveling direction of the 1 in the first effective detection range A _L Can be grasped visually.

Alternatively, the guidance display control unit 24b displays guidance display based on the second effective detection ranges K _L and K _R based on the obstacle, and the guidance display is the second effective detection ranges K _L and K _R. The virtual obstacle image V _L arranged along the end _TL on the opposite side to the obstacle in the second display reference range S _L including is displayed. The guidance display illustrated in FIGS. 23 and 24, it is possible to guide the host vehicle 1 as an obstacle present ahead of the vehicle 1 enters in a first effective detection range A _L.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  The parking assistance device of the present invention can be used for parking assistance of vehicles.

  DESCRIPTION OF SYMBOLS 1 Own vehicle, 2 Left ultrasonic sensor, 3 Right ultrasonic sensor, 4 1st sensor, 5 Parking assistance control part, 6 Automatic parking control part, 7 Steering device, 8 Engine, 9 Braking device, 10 Front camera DESCRIPTION OF SYMBOLS 11 2nd sensor, 12 Obstacle detection part, 13, 13a, 13b Parking candidate area | region detection part, 14 Vehicle speed sensor, 15 Shift position sensor, 16 Storage device, 17 GPS receiver, 18 Display condition determination part, 19, 19a, 19b display control unit, 20 display device, 21 display, 22 HUD, 23 road surface projector, 24, 24a, 24b guidance display control unit, 31 processor, 32 memory, 33 processing circuit, 41 windshield, 42 window frame, 43 steering Wheel, 100, 100a, 100b Parking assistance device.

Claims (14)

A parking support control unit that performs parking support of the vehicle using a first sensor for parking support provided in the vehicle;
A guidance display control unit that causes a display device to display guidance display based on an effective detection range by the first sensor in a state of being superimposed on a front landscape with respect to the vehicle;
With
The guidance display, the are those that provide information about the effective detection range, parking car supporting device you wherein a shows the outer end with respect to the vehicle among the effective detection range.   The parking assist device according to claim 1, wherein the parking assist controller performs automatic parking of the vehicle using the first sensor. The parking assistance device according to claim 1 , wherein the guidance display indicates the outer end portion and the inner end portion with respect to the vehicle in the effective detection range. The guidance display includes a band image corresponding to the effective detection range,
The parking assistance device according to claim 3, wherein the guidance display control unit displays a part including the outer end part and a remaining part of the belt-like image in different modes. The guidance display includes a left guidance display based on the effective detection range on the left side of the vehicle, and a right guidance display based on the effective detection range on the right side of the vehicle,
The guidance display control unit includes the guidance display based on the effective detection range including a parking candidate area that is a candidate of a parking possible area by the vehicle among the left guidance display and the right guidance display, and the parking candidate area. The parking support device according to claim 3, wherein the guidance display based on the effective detection range not included is displayed in a different manner. The guidance display includes a left guidance display based on the effective detection range on the left side of the vehicle, and a right guidance display based on the effective detection range on the right side of the vehicle,
The guidance display control unit sets the guidance display based on the effective detection range not including a parking candidate area that is a candidate of a parking possible area by the vehicle to non-display among the left guidance display and the right guidance display. The parking support apparatus according to claim 3, wherein The guidance display control unit further detects an obstacle existing in front of the vehicle using a second sensor provided in the vehicle, and displays the guidance display according to the detection result of the obstacle. The parking support apparatus according to claim 1, wherein: The guidance display control unit is configured to display the guidance display based on the effective detection range based on the vehicle,
The parking assistance device according to claim 7 , wherein the guidance display is a display in which an image corresponding to the effective detection range is superimposed on the obstacle within the effective detection range. The parking assistance device according to claim 8 , wherein the guidance display is to display a warning image superimposed on the obstacle outside the effective detection range. The guidance display control unit displays the guidance display based on the effective detection range based on the obstacle,
The guidance display is the traveling direction of the vehicle, the parking assist apparatus according to claim 7, characterized in that including the end on the opposite side with respect to the obstacle of the range including the effective detection range . The guidance display control unit displays the guidance display based on the effective detection range based on the obstacle,
The guidance display is as claimed in claim 7, wherein a is intended to include an image of a virtual obstacle arranged along the opposite end with respect to the obstacle of the range including the effective detection range Parking assistance device. The guidance display control unit, when the vehicle is parked, or the vehicle is according to claim 1, wherein the displaying the guidance display when the vehicle is traveling at a speed less than the reference speed Parking assistance device. The guidance display includes a left guidance display based on the effective detection range on the left side of the vehicle, and a right guidance display based on the effective detection range on the right side of the vehicle,
The guidance display control unit displays the guidance display on the opposite lane side of the left guidance display and the right guidance display when the position of the vehicle is on a road and the road has an opposite lane. It sets to a display. The parking assistance apparatus of Claim 12 characterized by the above-mentioned. The guidance display is parking assist apparatus according to claim 1, characterized in that including the recommended route of the vehicle.

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